用自激励机制催生群体复杂行为，揭示多智能体协作新范式。
Multi-Agent Empowerment and Emergence of Complex Behavior in Groups
- 将单智能体的赋能机制扩展至多智能体，实现高效计算。
- 在肌腱耦合与维克塞尔群体中观察到稳定群体组织模式。
- 适合研究自主系统、群体智能与分布式决策的学者参考。
内在动机正受到越来越多关注，即不依赖人工设计、而是由智能体与其环境交互中自然涌现的行为激励。本文研究了在多个智能体情境下由一种此类激励——赋能（empowerment）驱动的行为涌现。我们提出了赋能机制在多智能体场景下的严格扩展，并展示了其高效计算方法。在两种定性不同的环境中，我们观察到这种内在激励催生出特定的群体组织模式：一对通过肌腱耦合的智能体，以及可控制的维克塞尔群体（Vicsek flock）。结果表明，赋能等内在激励不仅能驱动个体行为，还能在大规模系统中促成更高层次的行为组织。
原文摘要 · Abstract (English)
Intrinsic motivations are receiving increasing attention, i.e. behavioral incentives that are not engineered, but emerge from the interaction of an agent with its surroundings. In this work we study the emergence of behaviors driven by one such incentive, empowerment, specifically in the context of more than one agent. We formulate a principled extension of empowerment to the multi-agent setting, and demonstrate its efficient calculation. We observe that this intrinsic motivation gives rise to characteristic modes of group-organization in two qualitatively distinct environments: a pair of agents coupled by a tendon, and a controllable Vicsek flock. This demonstrates the potential of intrinsic motivations such as empowerment to not just drive behavior for only individual agents but also higher levels of behavioral organization at scale.
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